Stockholders' Equity - Additional Information (Details) - USD ($)				3 Months Ended						9 Months Ended
	Dec. 15, 2022	Nov. 08, 2022	Jul. 02, 2021	Sep. 30, 2023	Jun. 30, 2023	Mar. 31, 2023	Sep. 30, 2022	Jun. 30, 2022	Mar. 31, 2022	Sep. 30, 2023	Sep. 30, 2022	Dec. 31, 2022	Jun. 16, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock, shares authorized (in shares)				400,000,000						400,000,000		400,000,000	400,000,000
Preferred stock, shares authorized (in shares)													40,000,000
Common stock, par value (in dollars per share)				$ 0.0001						$ 0.0001		$ 0.0001	$ 0.0001
Preferred stock, par value (in dollars per share)													$ 0.0001
Preferred stock, shares outstanding (in shares)				0						0		0
Proceeds from issuance of common stock in public offerings, net of issuance costs										$ 60,547,000	$ 101,701,000
Public offering issuance costs					$ 977,000	$ 408,000	$ 1,216,000	$ 1,184,000	$ 745,000
Stock-based compensation expense				$ 9,820,000			$ 7,086,000			$ 28,377,000	$ 19,832,000
Expected dividend yield										0.00%
Unrecognized compensation cost, options				$ 75,100,000						$ 75,100,000
Restricted Stock Units (RSUs)
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Award vesting period										4 years
Granted (in shares)										757,000
Granted (in dollars per share)										$ 20.03
PSUs outstanding (in shares)				701,000						701,000		0
PSUs vested (in shares)										0
Unrecognized compensation cost, excluding options				$ 11,800,000						$ 11,800,000
Compensation cost, period for recognition										4 years
Restricted Stock Units (RSUs) | Weighted Average
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Compensation cost, period for recognition										3 years 4 months 24 days
Stock Options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expected dividend yield										0.00%	0.00%
Compensation cost, period for recognition										2 years 8 months 12 days
Performance stock units
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Granted (in shares)										750,000
Granted (in dollars per share)										$ 6.57
Expiration period										2 years
PSUs outstanding (in shares)												0
PSUs vested (in shares)										0
Stock-based compensation expense										$ 0
Unrecognized compensation cost, excluding options				4,900,000						$ 4,900,000
Employee Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares issued under ESPP (in shares)										81,005	48,760
Outstanding liability				$ 600,000						$ 600,000
Shares reserved for future issuance (in shares)				467,023						467,023
Expected term (in years)										6 months	6 months
Award offering period										6 months
Expected dividend yield										0.00%	0.00%
Unrecognized compensation cost, excluding options				$ 200,000						$ 200,000
Compensation cost, period for recognition										2 months 12 days
Common Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares issued under ESPP (in shares)					81,000			49,000
Follow-on Public Offering | Common Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Sale of stock number of shares issued in transaction (in shares)	13,800,000
Sale of stock, price per share (in dollars per share)	$ 17.25
Proceeds from the follow-on public offering, net of underwriting discounts, commissions and offering costs	$ 223,800,000
Public offering issuance costs	$ 14,300,000
Cowen And Company, LLC | Private Placement, 2021 Sales Agreement
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Sale of common stock maximum aggregate offering price			$ 150,000,000
Sale of stock number of shares issued in transaction (in shares)											7,141,761
Proceeds from issuance of common stock in public offerings, net of issuance costs											$ 121,300,000
Cowen And Company, LLC | Private Placement, 2022 Sales Agreement
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Sale of common stock maximum aggregate offering price		$ 200,000,000
Sale of stock number of shares issued in transaction (in shares)										4,107,810
Proceeds from issuance of common stock in public offerings, net of issuance costs										$ 60,500,000